LS ELECTRIC L7NHF Series, User Manual

Page: 250 / 409

10. Object Dictionary
10-58
0x2119 Gain Conversion Mode ALL
Variable
Type
Setting Range Initial Value Unit
Accessi
bility
PDO
Assignm
ent
Variable
Attribute
Savin
g
UINT 0 to 7 0 - RW Yes Always Yes
You can enhance the performance of the entire system by switching between two gain groups.
According to the switching mode, manual switch or automatic switch can be done depending on the
external input or output signal, respectively.
Gain Group 1 Gain Group 2
Position Loop Gain 1 (0x2101)
Speed Loop Gain 1 (0x2102)
Speed Loop Integral Time Constant
1 (x2103)
Torque Command Filter Time
Constant 1 (0x2104)
Position Loop Gain 2 (0x2105)
Speed Loop Gain 2 (0x2106)
Speed Loop Integral Time Constant
2 (x2107)
Torque Command Filter Time
Constant
2
(0x2108
)
Setting Value Setting details
0 Only gain group 1 is used
1 Only gain group 2 is used
2
Gain is switched according to the GAIN2 input status
0: Use gain group 1 1: Use gain group 2
3 Reserved
4 Reserved
5 Reserved
6
Gain is switched according to the ZSPD output status
0: Use gain group 1 1: Use gain group 2
7
Gain is switched according to the INPOS1 output status
0: Use gain group 1 1: Use gain group 2
0x211A Gain Conversion Time 1 ALL
Variable
Type
Setting Range Initial Value Unit
Accessi
bility
PDO
Assignm
ent
Variable
Attribute
Savin
g
UINT 0 to 1000 2 ms RW Yes Always Yes
This specifies the time to switch from gain group 1 to gain group 2.